Motor control method, electronic equipment, storage medium and computer program product

Abstract

The invention discloses a motor control method, electronic equipment, a storage medium and a computer program product. The method comprises the steps of obtaining a motor rotor magnetic steel temperature, a required torque and a motor real-time rotating speed; selecting an optimal torque rotating speed direct-axis component ammeter corresponding to the temperature of the magnetic steel of the motor rotor, and selecting an optimal torque rotating speed quadrature-axis component ammeter corresponding to the temperature of the magnetic steel of the motor rotor; determining a direct-axis component current corresponding to the required torque and the real-time rotating speed of the motor according to the optimal torque rotating speed direct-axis component ammeter, and determining a quadrature-axis component current corresponding to the required torque and the real-time rotating speed of the motor according to the optimal torque rotating speed quadrature-axis component ammeter; and controlling the motor by adopting the direct-axis component current and the quadrature-axis component current. The motor efficiency can be optimal at various temperatures, so that the comprehensive efficiency of the motor is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-related technologies, and in particular to a motor control method, electronic equipment, storage medium and computer program product. Background Art

[0002] The prior art controls the motor of a vehicle by looking up a motor MAP table. Each speed and torque corresponds to a direct-axis component current Id and a quadrature-axis component current Iq, and also corresponds to an efficiency value.

[0003] After the motor is calibrated, a motor MAP table will be formed. The motor MAP table includes the torque-speed direct-axis component current table (i.e., torque-speed-Id MAP table), the torque-speed quadrature-axis component current table (i.e., torque-speed-Iq MAP table), and the motor efficiency table (i.e., torque-speed-efficiency MAP table). The three tables appear together.

[0004] After the motor obtains the required torque, according to the current speed, the torque-speed-Id MAP table and the torque-speed-Iq MAP table can be checked to find the direct-axis component current Id and the quadrature-axis component current Iq to control the motor, and the efficiency table can be checked to obtain the current motor efficiency. If Id and Iq change, the motor efficiency will also change.

[0005] However, in actual work, the temperature of the motor magnet changes dynamically. The motor control method in the prior art does not take the motor magnet temperature into consideration, but only calibrates a set of motor MAP tables, and the calibration temperature is uncontrollable, resulting in lower motor efficiency when the magnet temperature is low and high, and lower overall motor efficiency. Summary of the invention

[0006] Based on this, it is necessary to provide a motor control method, electronic device, storage medium and computer program product to address the technical problem of low overall efficiency of motors in the prior art.

[0007] The present invention provides a motor control method, comprising:

[0008] Obtain the motor rotor magnetic steel temperature, required torque and real-time motor speed;

[0009] Select the torque speed direct-axis component current meter corresponding to the motor rotor magnetic steel temperature as the optimal torque speed direct-axis component current meter, and select the torque speed quadrature-axis component current meter corresponding to the motor rotor magnetic steel temperature as the optimal torque speed quadrature-axis component current meter;

[0010] Determine the direct-axis component current corresponding to the required torque and the real-time speed of the motor according to the optimal torque-speed direct-axis component current table, and determine the quadrature-axis component current corresponding to the required torque and the real-time speed of the motor according to the optimal torque-speed quadrature-axis component current table;

[0011] The direct-axis component current and the quadrature-axis component current are used to control the motor.

[0012] Furthermore, the method further includes: setting current limit values ​​of the direct-axis component current in multiple temperature ranges, wherein the current limit value in a higher temperature range is smaller than the current limit value in a lower temperature range.

[0013] Furthermore, it also includes:

[0014] The actual flux linkage of the motor is determined, and whether the motor is demagnetized is determined based on the actual flux linkage.

[0015] Furthermore, the determining the actual flux of the motor and judging whether the motor is demagnetized according to the actual flux includes:

[0016] Get the normal flux linkage of the motor when it is not demagnetized;

[0017] Calculate the actual flux according to the actual working state of the motor;

[0018] If the actual flux linkage is smaller than the normal flux linkage, it is determined that the motor is demagnetized; otherwise, it is determined that the motor is not demagnetized.

[0019] Furthermore, it also includes:

[0020] When the motor is demagnetized, torque compensation is performed on the motor.

[0021] Furthermore, the performing torque compensation on the motor includes:

[0022] Get the actual torque;

[0023] Determine the total current for compensation according to the required torque and the actual torque;

[0024] Determine a direct-axis component current for compensation and a quadrature-axis component current for compensation according to the total current for compensation;

[0025] The motor is controlled by using the compensation direct-axis component current and the compensation quadrature-axis component current.

[0026] Further, determining the total current for compensation according to the required torque and the actual torque includes:

[0027] Calculate the current total current according to the current direct-axis component current and the quadrature-axis component current of the motor;

[0028] The ratio of the required torque to the actual torque is calculated, and the current total current is multiplied by the ratio to obtain the total current for compensation.

[0029] The present invention provides an electronic device, comprising:

[0030] at least one processor; and,

[0031] a memory communicatively connected to at least one of the processors; wherein,

[0032] The memory stores instructions that can be executed by at least one of the processors. The instructions are executed by at least one of the processors to enable the at least one of the processors to perform the motor control method as described above.

[0033] The present invention provides a storage medium, wherein the storage medium stores computer instructions. When a computer executes the computer instructions, the storage medium is used to execute all the steps of the motor control method as described above.

[0034] The present invention provides a computer program product, comprising a computer program / instruction, which implements the motor control method as described above when executed by a processor.

[0035] The present invention obtains the motor rotor magnetic steel temperature, the required torque and the real-time speed of the motor, and selects the torque speed direct-axis component ammeter and the torque speed quadrature-axis component ammeter corresponding to the motor rotor magnetic steel temperature as the optimal torque speed direct-axis component ammeter and the optimal torque speed quadrature-axis component ammeter. The direct-axis component current and the quadrature-axis component current corresponding to the required torque and the real-time speed of the motor determined according to the optimal torque speed direct-axis component ammeter and the optimal torque speed quadrature-axis component ammeter are optimal. Therefore, the motor efficiency can reach the optimal level at various temperatures, thereby improving the overall efficiency of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A flowchart of a motor control method according to an embodiment of the present invention;

[0037] Figure 2 A flowchart of a motor control method according to another embodiment of the present invention;

[0038] Figure 3 This is the installation diagram of the motor rotor magnetic steel temperature sensor;

[0039] Figure 4 A flowchart of a motor control method according to a preferred embodiment of the present invention;

[0040] Figure 5 The figure is a schematic diagram of the hardware structure of an electronic device of the present invention. DETAILED DESCRIPTION

[0041] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. The same components are represented by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0042] like Figure 1 The figure shows a working flow chart of a motor control method according to an embodiment of the present invention, comprising:

[0043] Step S101, obtaining the motor rotor magnetic steel temperature, required torque and real-time motor speed;

[0044] Step S102, selecting the torque speed direct-axis component current meter corresponding to the motor rotor magnetic steel temperature as the optimal torque speed direct-axis component current meter, and selecting the torque speed quadrature-axis component current meter corresponding to the motor rotor magnetic steel temperature as the optimal torque speed quadrature-axis component current meter;

[0045] Step S103, determining the direct-axis component current corresponding to the required torque and the real-time speed of the motor according to the optimal torque-speed direct-axis component current table, and determining the quadrature-axis component current corresponding to the required torque and the real-time speed of the motor according to the optimal torque-speed quadrature-axis component current table;

[0046] Step S104: Controlling the motor using the direct-axis component current and the quadrature-axis component current.

[0047] Specifically, the present invention can be applied to electronic devices with processing capabilities, such as a controller of a vehicle, such as an electronic control unit (ECU) of a vehicle.

[0048] Pre-calibrate the motor MAP table of multiple temperature ranges. Specifically, the magnet temperature can be dynamically controlled by methods such as natural cooling of the magnet, heating the magnet by generating heat during motor operation, etc. Thereby controlling the temperature of the motor rotor magnet, and calibrating the motor MAP table at the magnet temperature to be calibrated. As an example, calibrate the motor MAP table from 20°C to 60°C, calibrate the motor MAP table from 60°C to 100°C, calibrate the motor MAP table from 100°C to 140°C, and calibrate the motor MAP table from 140°C to 180°C. Each motor MAP table includes a torque-speed direct-axis component current table, a torque-speed quadrature-axis component current table, and a motor efficiency table. The torque-speed direct-axis component current table marks the torque-speed direct-axis component current Id corresponding to different torques and different speeds, the torque-speed quadrature-axis component current table marks the torque-speed quadrature-axis component current Iq corresponding to different torques and different speeds, and the motor efficiency table marks the efficiency corresponding to different torques and different speeds.

[0049] During the actual driving process, step S101 is first executed to obtain the motor rotor magnetic steel temperature, required torque and real-time motor speed.

[0050] Specifically, the real-time motor rotor magnetic steel temperature can be obtained by combining temperature sensor detection with a temperature estimation algorithm.

[0051] In some embodiments, during calibration, the motor stator temperature and rotor magnet temperature are collected and statistically summarized, and a corresponding table of the relationship between the stator temperature and the rotor magnet temperature at different torque speeds is output. This table is written into the motor software, so that during actual operation of the motor, the stator temperature can be obtained through the stator temperature sensor, and the rotor magnet temperature can be estimated based on the stator temperature.

[0052] In some embodiments, a temperature sensor is mounted on the motor rotor. Figure 3 The figure shows the installation diagram of the motor rotor magnetic steel temperature sensor. The temperature sensor 2 is installed on the rotor core 1 of the motor, and passes through the rotor shaft 4 through the temperature signal line 3, and is connected to the slip ring 5 installed at the end of the rotor shaft 4. The temperature signal detected by the temperature sensor 2 is obtained from the slip ring 5 as the rotor magnetic steel temperature. Among them, the motor also includes a housing 6, a coupling 7, a resolver 8, a conductive brush 9 and a bearing 10. The function of the slip ring 5 is to lead out the measurement signal of the rotating part. The slip ring is mainly composed of two parts: a conductive ring (rotor side) and a brush (stator side); when the rotor rotates, the brush is close to the surface of the conductive ring and slides in contact with the rotation of the conductive ring. This contact ensures the continuous transmission of current or signal.

[0053] The required torque is the torque required for the vehicle under different operating conditions and can be obtained from the vehicle controller.

[0054] Then, step S102 is executed to select the torque-speed direct-axis component ammeter corresponding to the motor rotor magnetic steel temperature as the optimal torque-speed direct-axis component ammeter, and select the torque-speed quadrature-axis component ammeter corresponding to the motor rotor magnetic steel temperature as the optimal torque-speed quadrature-axis component ammeter.

[0055] Specifically, the motor MAP table corresponding to the temperature range of the motor rotor magnetic steel temperature obtained in step S101 is then determined as the optimal torque-speed direct-axis component current table and the optimal torque-speed quadrature-axis component current table.

[0056] Then execute step S103, determine the direct-axis component current corresponding to the required torque and the real-time speed of the motor according to the optimal torque-speed direct-axis component current table, and determine the quadrature-axis component current corresponding to the required torque and the real-time speed of the motor according to the optimal torque-speed quadrature-axis component current table.

[0057] Specifically, the torque-speed direct-axis component current meter marks the correspondence between the motor torque, speed and the direct-axis component current Id, and the torque-speed quadrature-axis component current meter marks the correspondence between the motor torque, speed and the quadrature-axis component current Iq. The direct-axis component current Id and the quadrature-axis component current Iq corresponding to the required torque and the real-time speed of the motor are determined from the optimal torque-speed direct-axis component current meter and the optimal torque-speed quadrature-axis component current meter, respectively.

[0058] Finally, step S104 is executed to control the motor using the direct-axis component current and the quadrature-axis component current.

[0059] The present invention obtains the motor rotor magnetic steel temperature, the required torque and the real-time speed of the motor, and selects the torque speed direct-axis component ammeter and the torque speed quadrature-axis component ammeter corresponding to the motor rotor magnetic steel temperature as the optimal torque speed direct-axis component ammeter and the optimal torque speed quadrature-axis component ammeter. The direct-axis component current and the quadrature-axis component current corresponding to the required torque and the real-time speed of the motor determined according to the optimal torque speed direct-axis component ammeter and the optimal torque speed quadrature-axis component ammeter are optimal. Therefore, the motor efficiency can reach the optimal level at various temperatures, thereby improving the overall efficiency of the motor.

[0060] like Figure 2 The flowchart of a motor control method according to another embodiment of the present invention is shown, comprising:

[0061] Step S201, obtaining the motor rotor magnetic steel temperature, required torque and real-time motor speed.

[0062] Step S202, selecting the torque-speed direct-axis component ammeter corresponding to the motor rotor magnetic steel temperature as the optimal torque-speed direct-axis component ammeter, and selecting the torque-speed quadrature-axis component ammeter corresponding to the motor rotor magnetic steel temperature as the optimal torque-speed quadrature-axis component ammeter.

[0063] Step S203, determining the direct-axis component current corresponding to the required torque and the real-time speed of the motor according to the optimal torque-speed direct-axis component current table, and determining the quadrature-axis component current corresponding to the required torque and the real-time speed of the motor according to the optimal torque-speed quadrature-axis component current table;

[0064] Step S204: Controlling the motor using the direct-axis component current and the quadrature-axis component current.

[0065] Step S205, determining the actual flux linkage of the motor, and judging whether the motor is demagnetized according to the actual flux linkage.

[0066] Step S206, performing torque compensation on the motor when the motor is demagnetized.

[0067] Specifically, the motor MAP tables of multiple temperature ranges are pre-calibrated. The motor MAP table includes a torque speed direct axis component current table, a torque speed quadrature axis component current table and a motor efficiency table. When calibrating the motor MAP table, the current limit of the direct axis component current is also set.

[0068] In one of the embodiments, the method further includes: setting current limit values ​​of the direct-axis component current in multiple temperature ranges, wherein the current limit value in a higher temperature range is smaller than the current limit value in a lower temperature range.

[0069] Specifically, as the motor speed increases, the motor magnetic steel temperature is high at high speed, which can easily lead to motor demagnetization. For this reason, the prior art proposes to set a current limit for the direct-axis component current. However, the current limit of the prior art is not set according to the temperature, that is, it is required that at all temperatures (180degC+), the direct-axis component current of the motor cannot exceed the current limit to ensure that the magnetic steel will not demagnetize, thereby resulting in a higher requirement for the magnetic steel coercivity.

[0070] In this embodiment, the current limit values ​​of multiple direct-axis component currents are set corresponding to different temperature ranges. At the same time, the current limit value of the high temperature range is smaller than the current limit value of the low temperature range. The high temperature range refers to the temperature maximum value or temperature minimum value of the temperature range being higher than the temperature maximum value or temperature minimum value of other temperature ranges, and the low temperature range refers to the temperature maximum value or temperature minimum value of the temperature range being lower than the temperature maximum value or temperature minimum value of other temperature ranges.

[0071] Specifically, when calibrating the motor MAP table, current limits of the direct-axis component current in multiple temperature ranges are set.

[0072] In some embodiments, the minimum temperature value of the first temperature range is greater than the maximum temperature value of the second temperature range, and the current limit value corresponding to the first temperature range is less than the current limit value corresponding to the second temperature range.

[0073] As an example, as shown in Table 1, the first current limit is used below 150degC (℃), the second current limit is used above 150degC, and the second current limit is < the first current limit. The second current limit can be set to 800A and the first current limit to 900A, then the anti-coercive force capacity of the magnetic steel below 150degC is 900A, and the anti-coercive force capacity of the magnetic steel above 150degC is 800. As a result, the demand for the high-temperature anti-demagnetization capacity of the magnetic steel body >150degC can be reduced, and the material cost of the magnetic steel to ensure the high-temperature coercive force can be reduced, thereby reducing the cost of the magnetic steel by more than 10 yuan.

[0074] Table 1 Current limit setting table

[0075]

[0076]

[0077] This embodiment reduces material cost by setting a current limit.

[0078] During the actual vehicle driving, step S201 is first executed to obtain the motor rotor magnetic steel temperature, the required torque and the real-time motor speed. The motor rotor magnetic steel temperature can be obtained by the rotor magnetic steel temperature sensor or estimated by the stator temperature sensor. The required torque is obtained from the vehicle controller.

[0079] Then execute step S202, select the torque-speed direct-axis component ammeter corresponding to the motor rotor magnetic steel temperature as the optimal torque-speed direct-axis component ammeter, and select the torque-speed quadrature-axis component ammeter corresponding to the motor rotor magnetic steel temperature as the optimal torque-speed quadrature-axis component ammeter.

[0080] After obtaining the optimal torque-speed direct-axis component current table and the optimal torque-speed quadrature-axis component current table, execute step S203, determine the direct-axis component current corresponding to the required torque and the real-time speed of the motor according to the optimal torque-speed direct-axis component current table, determine the quadrature-axis component current corresponding to the required torque and the real-time speed of the motor according to the optimal torque-speed quadrature-axis component current table, and execute step S204 to control the motor using the direct-axis component current and the quadrature-axis component current.

[0081] Then, step S205 is executed to determine the actual flux linkage of the motor and determine whether the motor is demagnetized according to the actual flux linkage.

[0082] Specifically, the motor control method of the prior art does not have the function of estimating the magnetic flux of the magnetic steel corresponding to different temperatures, and cannot diagnose whether the motor magnetic steel is demagnetized, resulting in no increase in current for compensation during demagnetization, resulting in poor output torque and power performance. However, this embodiment adds motor demagnetization detection, and determines whether the motor is demagnetized through the real-time back electromotive force and the real-time speed of the motor, so as to perform corresponding demagnetization compensation operations.

[0083] In one embodiment, determining the actual flux of the motor and judging whether the motor is demagnetized according to the actual flux includes:

[0084] Get the normal flux linkage of the motor when it is not demagnetized;

[0085] Calculate the actual flux according to the actual working state of the motor;

[0086] If the actual flux linkage is smaller than the normal flux linkage, it is determined that the motor is demagnetized; otherwise, it is determined that the motor is not demagnetized.

[0087] Specifically, the normal magnetic flux is the magnetic flux measured when the motor is operating normally without demagnetization. This normal magnetic flux flux1 can be measured when the motor leaves the factory.

[0088] Then, when the motor is coasting under no-load conditions, the back electromotive force and the motor speed of the motor can be collected through the built-in function of the motor. According to the motor back magnetic flux formula flux = U / speed, the actual magnetic flux flux2 of the motor can be calculated. Among them, in the formula, flux is the magnetic flux, U is the back electromotive force, and speed is the speed.

[0089] Then, compare the normal magnetic flux flux1 with the actual magnetic flux flux2 calculated under the actual operating state of the motor. If flux2 < flux1, it is determined that the motor is demagnetized.

[0090] When the motor is demagnetized, step S206 is executed. When the motor is demagnetized, torque compensation is performed on the motor.

[0091] Specifically, when it is determined that demagnetization has occurred, the input current Irms is increased to compensate for the torque, improving the output torque power performance after demagnetization. The torque after demagnetization can be increased by more than 10%.

[0092] On the one hand, in this embodiment, the direct-axis component current and the quadrature-axis component current corresponding to the required torque determined according to the optimal torque speed direct-axis component ammeter and the optimal torque speed quadrature-axis component ammeter are optimal. Therefore, the motor efficiency can reach the optimum at various temperatures, thereby improving the comprehensive efficiency of the motor. On the other hand, this embodiment monitors the demagnetization of the motor and performs torque compensation when the motor is demagnetized to improve the output torque power performance.

[0093] In one embodiment, the torque compensation for the motor includes:

[0094] Obtain the actual torque;

[0095] Determine the total compensation current according to the required torque and the actual torque;

[0096] Determine the direct-axis component current for compensation and the quadrature-axis component current for compensation according to the total compensation current;

[0097] Control the motor using the direct-axis component current for compensation and the quadrature-axis component current for compensation.

[0098] Specifically, determine the total compensation current according to the required torque and the actual torque, and then use the existing current calculation method to calculate the direct-axis component current of the total compensation current as the direct-axis component current for compensation and calculate the quadrature-axis component current of the total compensation current as the quadrature-axis component current for compensation. And control the motor using the direct-axis component current for compensation and the quadrature-axis component current for compensation to compensate for the torque.

[0099] This embodiment provides a specific torque compensation method during demagnetization.

[0100] In one embodiment, determining the total compensation current based on the required torque and the actual torque includes:

[0101] Calculating the current total current based on the current direct-axis component current and quadrature-axis component current of the motor;

[0102] Calculating the ratio of the required torque to the actual torque, and multiplying the current total current by the ratio to obtain the total compensation current.

[0103] Specifically, since the current and torque have a linear relationship, the compensation torque can be compensated according to the linear relationship. For example, if the required torque is 100 Nm and the actual torque is 50 Nm, then the total compensation current is increased to twice the current total current.

[0104] This embodiment proposes a specific method for calculating the compensation current according to the linear relationship between the current and the torque.

[0105] As Figure 4 shown in the working flowchart of a motor control method according to the best embodiment of the present invention, it includes:

[0106] Step S401: Calibrate the motor MAP table from 20°C to 60°C, calibrate the motor MAP table from 60°C to 100°C, calibrate the motor MAP table from 100°C to 140°C, and calibrate the motor MAP table from 140°C to 180°C;

[0107] Step S402: Obtain the rotor magnet temperature, required torque, and real-time motor speed;

[0108] Step S403: According to the rotor magnet temperature, use the motor MAP table corresponding to this temperature to query the Id and Iq corresponding to the required torque and the real-time motor speed, with the optimal efficiency;

[0109] Step S404: Monitor the rotor magnet temperature;

[0110] Step S405: According to the motor demagnetization flux formula flux = U / speed, calculate the normal flux flux1 of the motor without demagnetization;

[0111] Step S406: Calculate the actual flux flux2 under the actual working condition of the motor;

[0112] Step S407: If flux2 < flux1, then execute Step S408, otherwise end;

[0113] Step S408: Determine that demagnetization has occurred, and increase the input current Irms to compensate for the torque.

[0114] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0115] like Figure 5 The figure shows a hardware structure diagram of an electronic device of the present invention, including:

[0116] at least one processor 501; and,

[0117] A memory 502 is communicatively connected to at least one of the processors 501; wherein,

[0118] The memory 502 stores instructions that can be executed by at least one of the processors. The instructions are executed by at least one of the processors so that the at least one of the processors can perform the motor control method described above.

[0119] Figure 5 A processor 501 is taken as an example.

[0120] The electronic device may further include: an input device 503 and a display device 504 .

[0121] The processor 501, the memory 502, the input device 503 and the display device 504 may be connected via a bus or other means, and the figure takes the connection via a bus as an example.

[0122] The memory 502 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the motor control method in the embodiment of the present application, for example, Figure 1 , Figure 2 The processor 501 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 502, that is, the motor control method in the above embodiment is implemented.

[0123] The memory 502 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created according to the use of the motor control method, etc. In addition, the memory 502 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 502 may optionally include a memory remotely arranged relative to the processor 501, and these remote memories may be connected to the device for executing the motor control method via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0124] The input device 503 can receive user clicks and generate signal inputs related to user settings and function controls of the motor control method. The display device 504 can include display devices such as a display screen.

[0125] The one or more modules are stored in the memory 502 , and when executed by the one or more processors 501 , the motor control method in any of the above method embodiments is executed.

[0126] The present invention obtains the motor rotor magnetic steel temperature, the required torque and the real-time speed of the motor, and selects the torque speed direct-axis component ammeter and the torque speed quadrature-axis component ammeter corresponding to the motor rotor magnetic steel temperature as the optimal torque speed direct-axis component ammeter and the optimal torque speed quadrature-axis component ammeter. The direct-axis component current and the quadrature-axis component current corresponding to the required torque and the real-time speed of the motor determined according to the optimal torque speed direct-axis component ammeter and the optimal torque speed quadrature-axis component ammeter are optimal. Therefore, the motor efficiency can reach the optimal level at various temperatures, thereby improving the overall efficiency of the motor.

[0127] An embodiment of the present invention provides a storage medium, wherein the storage medium stores computer instructions. When a computer executes the computer instructions, the storage medium is used to execute all the steps of the motor control method as described above.

[0128] In the context of the present disclosure, a storage medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or apparatus. The storage medium may be a machine-readable signal medium or a machine-readable storage medium. Alternatively, the storage medium may be a non-temporary computer-readable storage medium, for example, a non-temporary computer-readable storage medium may be a ROM, a random access memory (Random Access Memory, RAM), a compact disc read-only memory (Compact Disc ROM, CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0129] An embodiment of the present invention provides a computer program product, including a computer program / instruction, which implements the motor control method as described above when executed by a processor.

[0130] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A motor control method, characterized in that: include: Obtain the motor rotor magnetic steel temperature, required torque and real-time motor speed; Select the torque speed direct-axis component current meter corresponding to the motor rotor magnetic steel temperature as the optimal torque speed direct-axis component current meter, and select the torque speed quadrature-axis component current meter corresponding to the motor rotor magnetic steel temperature as the optimal torque speed quadrature-axis component current meter; Determine the direct-axis component current corresponding to the required torque and the real-time speed of the motor according to the optimal torque-speed direct-axis component current table, and determine the quadrature-axis component current corresponding to the required torque and the real-time speed of the motor according to the optimal torque-speed quadrature-axis component current table; The direct-axis component current and the quadrature-axis component current are used to control the motor.

2. The motor control method according to claim 1, characterized in that: Also includes: Current limit values ​​of the direct-axis component current in a plurality of temperature ranges are set, and the current limit value in a higher temperature range is smaller than the current limit value in a lower temperature range.

3. The motor control method according to claim 1, characterized in that: Also includes: The actual flux linkage of the motor is determined, and whether the motor is demagnetized is determined based on the actual flux linkage.

4. The motor control method according to claim 3, characterized in that: The determining the actual flux linkage of the motor and judging whether the motor is demagnetized according to the actual flux linkage comprises: Get the normal flux linkage of the motor when it is not demagnetized; Calculate the actual flux according to the actual working state of the motor; If the actual flux linkage is smaller than the normal flux linkage, it is determined that the motor is demagnetized; otherwise, it is determined that the motor is not demagnetized.

5. The motor control method according to claim 3, characterized in that: Also includes: When the motor is demagnetized, torque compensation is performed on the motor.

6. The motor control method according to claim 5, characterized in that: The torque compensation for the motor comprises: Get the actual torque; Determine the total current for compensation according to the required torque and the actual torque; Determine a direct-axis component current for compensation and a quadrature-axis component current for compensation according to the total current for compensation; The motor is controlled by using the compensation direct-axis component current and the compensation quadrature-axis component current.

7. The motor control method according to claim 6, characterized in that: The determining of the total current for compensation according to the required torque and the actual torque comprises: Calculate the current total current according to the current direct-axis component current and the quadrature-axis component current of the motor; The ratio of the required torque to the actual torque is calculated, and the current total current is multiplied by the ratio to obtain the total current for compensation.

8. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that can be executed by at least one of the processors, and the instructions are executed by at least one of the processors to enable the at least one processor to perform the motor control method according to any one of claims 1 to 7.

9. A storage medium, characterized in that: The storage medium stores computer instructions, and when a computer executes the computer instructions, it is used to execute all the steps of the motor control method according to any one of claims 1 to 7.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the motor control method according to any one of claims 1 to 7 is implemented.

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